WO2021030993A1

WO2021030993A1 - Lidar and emission device thereof

Info

Publication number: WO2021030993A1
Application number: PCT/CN2019/101163
Authority: WO
Inventors: 陈杰; 向少卿
Original assignee: 上海禾赛科技股份有限公司
Priority date: 2019-08-16
Filing date: 2019-08-16
Publication date: 2021-02-25
Also published as: CN112394336A; CN112394336B

Abstract

Provided are a lidar and emission device thereof, the emission device comprising: at least one light emitter (41), the light emitter (41) being arranged in the vertical direction, the detection beam emitted by each light emitter (41) having a different vertical field of view angle; an oscillating mirror (42), used for deflecting an incident probe beam to different positions of an emission lens assembly (43); the oscillating mirror (42) can pitch oscillate in the vertical direction and, by means of the pitch oscillation, divide any probe beam into a plurality of probe sub-beams having different vertical field of view directions, thereby causing the detection beam, after it has been emitted by the lens assembly (43), to shift its position in translational motion on the focal plane of the emission lens assembly (43) so as to change the vertical field of view angle of the probe beam to achieve scanning of the probe beam in the vertical direction; the emission lens assembly (43) is used for collimating the probe beam deflected by the oscillating mirror (42); a rotor, having a rotational axis arranged vertically, the rotor being capable of rotating about the rotational axis; a rotating mirror (44), arranged on the rotor and synchronized with the oscillating mirror (42), the rotating mirror (44) having an M reflector, M being a positive integer greater than or equal to 2.

Description

Lidar and its launching device

Technical field

The present invention relates to the technical field of laser radar, in particular to laser radar and its launching device.

Background technique

An unmanned car is a smart car that senses the road environment through the on-board sensor system, automatically plans the driving route and controls the vehicle to reach a predetermined goal. It uses on-board sensors to perceive the surrounding environment of the vehicle, and controls the steering and speed of the vehicle based on the road, vehicle location, and obstacle information obtained from the perception, so that the vehicle can safely and reliably drive on the road.

On-board sensors are necessary on-board equipment to realize driverless cars. Among them, lidar has the characteristics of long detection range, high resolution, and little environmental interference, and is an indispensable vehicle-mounted device for driverless cars. The working principle of the lidar is roughly as follows: the transmitter of the lidar emits a laser beam. After the laser beam encounters an object, it undergoes diffuse reflection and returns to the laser receiver. The radar module multiplies the speed of light by the time interval of sending and receiving signals. Divide by 2 to calculate the distance between the transmitter and the object. In addition to distance information, lidar can also obtain other information about the target object, such as orientation, speed, size, shape, and reflectivity.

Early lidars were single-line lidars, that is, there was only one laser and detector, and the range of scanning targets was limited, which easily caused the lack of detection targets. In order to make up for the shortcomings of single-line lidar, multi-line lidar has increasingly become the focus of research and commercial use.

However, the existing multi-line lidar often has the problems of high cost and excessive energy consumption.

The content of the background technology is only the technology known to the inventor, and does not of course represent the existing technology in the field.

Summary of the invention

In view of at least one of the defects in the prior art, the present invention proposes a laser radar launching device, the launching device includes:

At least one optical transmitter for emitting a probe beam, the optical transmitters are arranged in a vertical direction, and the probe beam emitted by each of the optical transmitters has a different vertical field of view;

The swing mirror is used to deflect the incident detection beam to different positions of the emission lens assembly, so that the detection beam forms an image on the focal plane of the emission lens assembly after passing through the emission lens assembly There is positional translation to change the vertical field of view of the probe beam to realize the scanning of the probe beam in the vertical direction;

A transmitting lens assembly, used to collimate the probe beam deflected by the swing mirror;

A rotor having a rotating shaft arranged in a vertical direction, the rotor being able to rotate around the rotating shaft;

The rotating mirror is arranged on the rotor and synchronized with the swing mirror. The rotating mirror has M reflecting surfaces for reflecting the probe beam collimated by the emitting lens assembly to the space to be measured, Thus, the scanning of the probe beam in the horizontal direction is realized, where M is a positive integer greater than or equal to 2.

Optionally, the swing mirror is capable of pitching and swinging in a vertical direction, has N swing states, and can be sequentially switched between the N swing states;

The pendulum mirrors in different swing states have different pitch angles, and are suitable for deflecting the probe beam to different positions of the emitting lens assembly, thereby dividing any probe beam into multiple vertical field of view directions Different detection sub-beams; where N is a positive integer greater than or equal to 2.

Optionally, the rotating mirror may be arranged at the focal plane of the emitting lens assembly.

Optionally, the synchronization between the swing mirror and the rotating mirror includes: within an interval no greater than the interval between two consecutive horizontal scanning of the two adjacent reflective surfaces of the rotating mirror, so The swing mirror switches from one swing state to the next swing state.

Optionally, the vertical field of view of the probe beam emitted by the optical transmitter is evenly distributed within the field of view scanned in the vertical direction of the lidar.

Optionally, the difference between the vertical field angles of the detection beams emitted by two adjacent light emitters is set to be α degree, and any one of the detection beams is set to be in two adjacent swings. The difference between the vertical field angles of the swing mirrors in the state of being deflected is β degrees,

Where α=β*N.

Optionally, at least two of the M reflecting surfaces of the rotating mirror respectively have different pitch angles with respect to the vertical direction.

Optionally, the swing mirror includes:

A housing, the inside of the top and bottom of the housing are respectively provided with a first limiting slot and a second limiting slot, and the extension direction of the first limiting slot and the second limiting slot is the same as that of the pendulum The reflecting surfaces of the mirror are parallel, and the stroke width of at least one of the first limiting groove and the second limiting groove in the front and rear direction of the housing is not zero;

A sheet-shaped swinging member, the top and bottom ends of the sheet-shaped swinging member are respectively clamped in the first limiting groove and the second limiting groove, and the front surface of the sheet-shaped swinging member has a reflective surface , The reflecting surface is used to deflect the incident light beam;

The driving component is adapted to drive the sheet-shaped swinging component to swing in the housing.

Optionally, the stroke widths of the first limiting groove and the second limiting groove in the front and rear direction of the housing are not zero.

Optionally, the driving component includes:

The first magnetic component is arranged on the sheet-shaped swinging part and is close to the top end of the sheet-shaped swinging part;

The second magnetic part is arranged on the sheet-like swinging part and is close to the bottom end of the sheet-like swinging part;

The first driving device is fixedly arranged inside the housing and is opposite to and spaced apart from the first magnetic component. The first driving device is configured to be able to push and pull the first magnetic component under the driving of the first driving signal. A magnetic component to drive the top end of the sheet-shaped swinging component to swing in the first limiting slot;

The second driving device is fixedly arranged inside the housing and is opposite to and spaced apart from the second magnetic component. The second driving device is configured to be able to push and pull the first magnetic component under the driving of the second driving signal. Two magnetic parts are used to drive the bottom end of the sheet-shaped swinging part to swing in the second limiting groove.

Optionally, the stroke width of the first limiting groove is different from the stroke width of the second limiting groove.

Optionally, the sheet-shaped swinging member has four swinging states, including:

In the first swing state, the first driving device pushes the top end of the sheet-shaped swinging member to abut against the front flange of the first limiting groove, and the second driving device pushes the sheet-shaped swinging member Push the bottom end of the second limit groove to abut against the front flange;

In the second swing state, the first driving device pushes the top end of the sheet-like swinging member to abut against the front flange of the first limiting groove, and the second driving device pushes the sheet-like swinging member The bottom end of the second limiting groove is pulled to abut against the rear flange of the second limiting groove;

In the third swing state, the first driving device pulls the top end of the sheet-shaped swinging member to abut against the rear flange of the first limiting groove, and the second driving device pulls the sheet-shaped swinging member The bottom end of the second limiting groove is pulled to abut against the rear flange of the second limiting groove;

In the fourth swing state, the first driving device pulls the top end of the sheet-shaped swinging member to abut against the rear flange of the first limiting groove, and the second driving device pulls the sheet-shaped swinging member Push the bottom end to abut against the front flange of the second limiting groove.

Optionally, the sheet-like swing member is in the order of the first swing state, the second swing state, the third swing state, the fourth swing state, and then back to the first swing state It is driven in turn.

Optionally, the stroke width of the first limiting groove is n times the stroke width of the second limiting groove, or the stroke width of the second limiting groove is the stroke of the first limiting groove N times the width, n is a natural number greater than 1.

Optionally, the surface formed by the center line of the first limiting groove and the center line of the second limiting groove is parallel to the reflecting surface of the pendulum mirror.

Optionally, the launching device further includes an elastic member, one end of the elastic member is fixedly connected to the inside of the casing, and the other end of the elastic member abuts against the rear surface of the sheet-shaped swing member, so The elastic member is used for suspending the sheet-shaped swinging member, so that the sheet-shaped swinging member is translated back and forth or rotated in a pitch direction.

Optionally, buffer bushes are respectively provided inside the first limiting groove and the second limiting groove.

Optionally, the first driving device is a first electromagnetic coil, and the first electromagnetic coil is configured to be able to push and pull the first magnetic component by electric current driving; the second driving device is a second electromagnetic coil, The second electromagnetic coil is configured to be able to push and pull the second magnetic component by current driving.

Optionally, a reflecting mirror is attached to the front surface of the sheet-shaped swinging member, and the reflecting mirror is used to deflect the incident light beam.

The embodiment of the present invention provides a lidar, and the lidar includes:

Any of the above-mentioned launching devices;

At least one optical receiver for receiving an echo beam, the echo beam being a beam formed by the emitted beam after being reflected by a target in the space to be measured;

The control device has at least one processor for controlling the synchronization between the swing mirror and the rotating mirror, and according to the time interval between the emission moment of the probe beam and the reception moment of the echo beam, Calculate the distance between the target in the space to be measured and the lidar.

Optionally, controlling the synchronization between the swing mirror and the rotating mirror includes using the interval time between two successive horizontal scans of two adjacent reflective surfaces of the rotating mirror to control the The swing mirror switches from one swing state to the next swing state.

Optionally, the lidar further includes:

A spectroscopic device for reflecting or transmitting the probe beam and transmitting or reflecting the echo beam;

Receiving lens assembly for collecting the echo beam;

Wherein, the probe beam emitted by the light transmitter is reflected or transmitted by the beam splitter and then enters the pendulum mirror, and the probe beam is deflected by the pendulum mirror and enters the emission lens assembly for collimation; The collimated probe beam is incident on the rotating mirror and reflected to the space to be measured. The probe beam is reflected by the target in the space to be measured to form the echo beam, and the echo beam passes through the The rotating mirror reflects to the receiving lens assembly, the echo beam is collected by the receiving lens assembly and enters the swing mirror, and the echo beam is deflected by the swing mirror and enters the beam splitting device , The echo beam is transmitted or reflected by the light splitting device and then condensed on the light receiver.

Optionally, the lidar further includes:

The second swing mirror, the second swing mirror is arranged directly above or directly below the swing mirror, and the second swing mirror is arranged to be driven synchronously with the swing mirror.

Optionally, the lidar further includes:

The transmitting lens assembly is also used to collect the echo beam;

Wherein, the probe beam emitted by the light transmitter is reflected or transmitted by the beam splitter and then enters the pendulum mirror, and the probe beam is deflected by the pendulum mirror and enters the emission lens assembly for collimation; The collimated probe beam is incident on the rotating mirror and reflected to the space to be measured. The probe beam is reflected by the target in the space to be measured to form the echo beam, and the echo beam passes through the The rotating mirror reflects to the receiving lens assembly, the echo beam is collected by the receiving lens assembly and enters the second swing mirror, and the echo beam is deflected by the second swing mirror and then enters In the light splitting device, the echo beam is transmitted or reflected by the light splitting device and then condensed on the light receiver.

Compared with the prior art, the technical solution of the present invention has the following advantages:

Since the sheet-like swinging part in the swing mirror can swing within the first and second limiting slots, the stroke widths of the first and second limiting slots are different, so the sheet-like swinging part The different combinations of top and bottom swing positions corresponding to a variety of different swing states, and corresponding to a variety of different tilt angles from the vertical direction, so that an incident beam can be deflected to different positions on the emitting lens assembly, so that the The image formed by the collimated beam of the emission lens assembly on the focal plane of the emission lens assembly has a positional translation in the vertical dimension, so four detection beams with different vertical field angles can be formed, which can be effective Reduce the number of lasers in the lidar to achieve the purpose of reducing costs, simplifying the structure and reducing the difficulty of installation.

Description of the drawings

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and the description thereof are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Figure 1 shows a schematic structural diagram of a swing mirror in an embodiment of the present invention;

Figure 2 shows a schematic structural diagram of another swing mirror in an embodiment of the present invention;

Figure 3 shows a schematic structural diagram of another swing mirror in an embodiment of the present invention;

3A-3D respectively show a schematic diagram of the corresponding tilt angle of a swing mirror in an embodiment of the present invention in a first swing state, a second swing state, a third swing state, and a fourth swing state;

4A shows a schematic side view of the structure of a laser radar transmitting device in an embodiment of the present invention;

4B shows a top view of the structure of a laser radar transmitting device in an embodiment of the present invention;

4C shows a schematic side view of the structure of another laser radar transmitting device in an embodiment of the present invention;

4D shows a schematic side view of the structure of a laser radar transmitting device in an embodiment of the present invention;

4E shows a schematic side view of the structure of a laser radar transmitting device in an embodiment of the present invention;

4F shows a schematic side view of the structure of another laser radar transmitting device in an embodiment of the present invention;

Figure 5 shows a schematic structural diagram of a lidar in an embodiment of the present invention;

Figure 6 shows a schematic structural diagram of another lidar in an embodiment of the present invention;

FIG. 7 shows a schematic diagram of a scanning track of a laser radar in an embodiment of the present invention;

FIG. 8 shows a schematic diagram of a scanning track of a laser radar in an embodiment of the present invention;

FIG. 9 shows a schematic diagram of a scanning track of a laser radar in an embodiment of the present invention.

detailed description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art can realize, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

It can be known from the background technology that the multi-line lidar in the prior art has the problems of high cost and excessive energy consumption.

The existing multi-line lidar uses multiple lasers and corresponding detectors to be arranged in the vertical direction to increase the detection range in the vertical direction and the vertical field of view resolution. However, because each detection channel requires a laser, and since each detection channel includes a laser, that is, the number of lasers included in the lidar is quite large, the cost of this kind of lidar is relatively high, and the internal structure is complicated. , The problem of greater difficulty in installation.

In order to solve this technical problem, the embodiment of the present invention provides a pendulum mirror capable of producing a variety of different swing states, and correspondingly generate a variety of different deflection angles. Accordingly, each deflection angle can make the laser Covering different fields of view, which can effectively reduce the number of lasers in the lidar, achieve the purpose of reducing costs, simplifying the structure and reducing the difficulty of installation.

The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not used to limit the present invention.

Figure 1 shows a schematic structural diagram of a pendulum mirror in an embodiment of the present invention. The pendulum mirror is used to deflect incident light beams. With reference to Figure 1, it can be seen that the pendulum mirror includes a housing 10, a sheet-shaped pendulum member 11, and Driving part 14. To facilitate clear description, choose the relatively long side or one side of the housing 10 to measure the height of the housing 10. The extension direction of the housing 10 in the height is called the height direction. The arrow in the height direction in FIG. It is the upper part or top or top of the height direction, and the reverse of the arrow is the lower part or bottom or bottom of the height direction; the other side or side of the housing 10 with the shortest relative size is selected to measure the depth or thickness of the housing 10, and The direction in which the housing 10 extends in depth or thickness is referred to as the front-rear direction. The arrow in the front-rear direction in FIG. rear. Of course, in specific implementations, those skilled in the art can adjust the definition of the above orientation according to the usage scenarios and assembly requirements, and the examples here are not used to limit the protection scope of the present application.

In order to facilitate the installation of the sheet-shaped swinging member 11, a first limiting groove 12 and a second limiting groove 13 are respectively provided inside the top (upper in the height direction) and the bottom (lower in the height direction) of the housing 10, The extension directions of the stroke widths of the first limiting groove 12 and the second limiting groove 13 and the reflecting surface 110 of the swing mirror are parallel to each other. Correspondingly, the top end 111 and the bottom end 112 of the sheet-shaped swinging member 11 are respectively It is clamped in the first limiting slot 12 and the second limiting slot 13.

In specific implementations, two materials, metal (such as high-strength alloys) and non-metallic materials can be used, or only non-metallic materials can be used as the material of the first limiting groove 12 and the second limiting groove 13, thus improving The accuracy and long-term stability of the limit slot. In production, the raw materials can be processed by processes such as milling to produce the first limit slot 12 and the second limit slot 13.

It should be noted that if the ends (top end 111 and/or bottom end 112) of the sheet-like swinging member 11 can move in the front and rear directions in the limit groove, there is a concept of stroke accordingly, so the stroke width here It is defined by the movement of the ends (top end 111 and/or bottom end 112) of the sheet-like swinging member 11.

In a specific implementation, the stroke width of at least one of the first limiting slot 12 and the second limiting slot 13 in the front and rear direction of the housing 10 is not zero, which specifically includes the following three situations: The stroke width of the bit slot 12 in the front and rear direction is zero, and the stroke width of the second limit slot 13 in the front and rear direction is not zero; the stroke width of the first limit slot 12 in the front and rear direction is not zero, and the second limit slot 13 The stroke width in the front and rear direction is zero; the stroke width of the first limit slot 12 in the front and rear direction is not zero, and the stroke width of the second limit slot 13 in the front and rear direction is also not zero. And the stroke width of the limit groove in the front and rear direction of the housing 10 is zero, which means that the corresponding end of the sheet-like swing member 11 cannot move in the limit groove in the front and rear direction of the housing 10. It also means that the thickness of the corresponding end of the sheet-like swing member 11 in the front and rear direction is approximately equal to the depth of the corresponding limit groove in the front and rear direction.

For example, as shown in FIG. 1, the stroke width of the first limiting groove 12 in the front-rear direction of the housing 10 is zero (the thickness of the sheet-like swing member 11 is approximately equal to the depth of the first limiting groove 12), then The top end 111 of the sheet-shaped swinging member 11 is directly and fixedly clamped in the first limiting slot 12, and the top end 111 of the sheet-shaped swinging member 11 can swing in the first limiting slot 12, but cannot be in the first limiting slot 12. There is positional movement inside along the front and rear directions. The stroke width of the second limiting groove 13 in the front and rear direction of the housing 10 is not zero (the thickness of the sheet-like swinging member 11 is less than the depth of the second limiting groove 13), and the leftmost side of the second limiting groove 13 is The left end A, the rightmost end B is the right end B. Although the bottom end 112 of the sheet-like swinging member 11 is clamped in the second limiting slot 13, the bottom end 112 of the sheet-like swinging member 11 can be in the second limiting slot 13 There is positional movement along the front and rear directions, for example, the bottom end 112 of the sheet-like swinging member 11 can move from the left end A to the right end B.

In order to realize the swing of the sheet-like swinging component 11 in the housing 10, the end (top end 111 and/or bottom end 112) of the sheet-like swinging component 11 can be driven in the limit slot (first The inside of the limiting slot 12 and/or the second limiting slot 13) moves along the front and rear directions.

In addition, in an embodiment of the present invention, the front surface of the sheet-shaped swinging member 11 has a reflective surface 110, and the reflective surface 110 can be used to deflect the incident light beam. Of course, in another embodiment, a reflector can also be attached to the front surface of the sheet-shaped swinging member 11, and the reflector is used to deflect the incident light beam. It can be understood that when the sheet-shaped swinging member 11 in the swing mirror swings in the first limiting groove 12 and/or the second limiting slot 13, at different moments, the top end of the sheet-shaped swinging member 11 111 and the bottom end 112 will be located at different positions, which will result in different combinations of swing positions, and the sheet-shaped swing member 11 will drive the reflecting surface 110 or the reflecting mirror to produce different inclination angles relative to the vertical direction of the radar. For example, at time t1, the top end 111 of the sheet-like swinging member 11 is at point a1 (not shown), the bottom end 112 is at point b1 (not shown), and the angle between the reflecting surface 110 or the mirror and the vertical is α1; At time t2, the top end 111 of the sheet-like swinging member 11 is at point a2 (not shown), the bottom end 112 is at point b2 (not shown), and the angle between the vertical direction of the reflecting surface 110 or the mirror and the lidar is α2 ≠α1. Therefore, the swing mirror in the present application can deflect an incident beam to form multiple detection beams with different vertical field angles, so it can effectively reduce the number of lasers in the lidar, thereby reducing cost, simplifying the structure, and reducing installation difficulty. purpose.

In order to deflect one incident beam to form more detection beams with different vertical field angles, in specific implementation, the first limiting groove and the second limiting groove are in the front and rear directions of the housing The stroke width can be non-zero. FIG. 2 shows a schematic structural diagram of another swing mirror in an embodiment of the present invention. In FIG. 2, the stroke widths of the first limiting groove 22 and the second limiting groove 23 in the front and rear direction of the housing 10 are the same It is not zero, and the driving part is split into two sub-parts, and the two sub-parts are used to independently drive the top end 111 and the bottom end 112 of the sheet-shaped swinging part.

Referring to FIG. 2, it can be seen that the driving component includes: a first magnetic component 141, a second magnetic component 142, a first driving device 143 and a second driving device 144. In detail, the first magnetic component 141 is attached to the sheet-like swinging component and is relatively closer to the top end 111 of the sheet-like swinging component. The first driving device 143 is fixedly arranged inside the housing 10 and is connected to the first magnetic The components 141 are arranged opposite and spaced apart. When the first driving signal is applied to the first driving device 143, the first driving device 143 and the first magnetic component 141 generate a force between each other, and appear as the first driving device 143 at The first magnetic component 141 is pushed and pulled in the front-rear direction of the housing 10 to drive the top end 111 of the sheet-shaped swinging component to swing or move in the first limiting slot 22. In the same way, the second magnetic member 142 is disposed on the sheet-like swinging member relatively closer to the bottom end 112, and the second driving device 144 is fixedly disposed inside the housing 10 and opposite to the second magnetic member 142. It is arranged at intervals. After the second driving signal is applied to the second driving device 144, the second driving device 144 can push and pull the second magnetic component 142, and drive the bottom end 112 of the sheet-shaped swinging component to the second limit position. The groove 23 swings.

In a specific implementation, a first electromagnetic coil may be used as the first driving device 143, and a first magnetic steel may be used as the first magnetic component 141, and then the first electromagnetic coil is configured to be able to push and pull the magnetic steel through current driving; Correspondingly, a second electromagnetic coil is used as the second driving device 144, and a second magnetic steel is used as the second magnetic component 142, and the second electromagnetic coil is configured to be able to push and pull the second magnetic steel through current driving.

In order to further improve the ability of the swing mirror to deflect and expand the wire harness for the incident beam, in specific implementation, the stroke width of the first limiting groove and the stroke width of the second limiting groove may be set to be different. FIG. 3 shows a schematic structural diagram of another swing mirror in an embodiment of the present invention. In FIG. 3, the stroke width of the first limiting groove 32 in the front and rear direction of the housing 30 is T1, and the second limiting groove The stroke width of 33 in the front-rear direction of the housing 30 is T2.

In addition, in order to reduce the complexity of the device and the cost of the radar, the sheet-shaped swing member 11 of the swing mirror in the embodiment of the present invention may have four swing states, and the beam can be deflected only in the four swing states. Specifically, the four swing states are:

In the first swing state, the first driving device 143 pushes the top end of the sheet-shaped swing member 11 to abut against the front flange D end of the first limiting groove 32, and the second driving device 144 swings the sheet The bottom end of the component 11 is pushed to abut against the front flange B end of the second limiting groove 33, as shown in FIG. 3A.

In the second swing state, the first driving device 143 pushes the top end of the sheet-shaped swinging member 11 to abut against the front flange D end of the first limiting groove 32, and the second driving device 144 swings the sheet-shaped swing member 11 The bottom end of the component 11 is pulled to abut against the rear flange A end of the second limiting groove 33, as shown in FIG. 3B.

In the third swing state, the first driving device 143 pulls the top end of the sheet-like swing member 11 to abut against the rear flange C of the first limiting groove 32, and the second driving device 144 swings the sheet The bottom end of the component 11 is pulled to abut against the rear flange A end of the second limiting groove 33, as shown in FIG. 3C.

In the fourth swing state, the first driving device 143 pulls the top end of the sheet-shaped swinging member 11 to abut against the rear flange C of the first limiting groove 32, and the second driving device 144 swings the sheet The bottom end of the component 11 is pushed to abut against the front flange B end of the second limiting groove 33, as shown in FIG. 3D.

In order to reduce the loss of the limit slot when the swing states are switched between each other, and to improve the reliability of the swing mirror, in an embodiment of the present invention, the inside of the first limit slot 32 and/or the second limit slot 33 Cushion bushes 34 may be respectively provided to provide a certain cushioning effect on the end of the sheet-shaped swing member 11. The cushion bushing 34 may be made of a relatively elastic and soft material, such as rubber. In another embodiment of the present invention, the end (top end and/or bottom end) of the sheet-like swing member 11 is moved to the limit groove (the first limit slot 32 or the second limit slot 33) as in the above embodiment. ) The front and rear flanges are different as the swing state. The sheet-like swing member 11 can be moved to the halfway position of the stroke width of the limit groove as the swing state. For example, the position E is in the first limit groove 32 and A place close to the front flange D end can be set at the top end of the sheet-like swinging member 11 at position E, and the bottom end of the sheet-like swinging member 11 and the front flange B end of the second limiting groove 33 When abutting, it is the first swing state.

In a specific implementation, the sheet-like swing member 11 is cyclically driven in the order of the first swing state, the second swing state, the third swing state, the fourth swing state, and then back to the first swing state. In this way, when the two adjacent swing states are switched, there is only a single-end (top or bottom) drive, that is, either the top of the sheet-like swinging member 11 is driven to move, or the sheet-like swing is driven The bottom end of the component 11 moves, so the complexity of the movement can be reduced and the measurement accuracy of the radar can be improved.

In an embodiment of the present invention, it can be set that there is a relationship of n times the stroke width of the first limiting slot 32 and the second limiting slot 33, and n is a natural number greater than 1. Specifically, the stroke width of the first limiting groove 32 may be n times the stroke width of the second limiting groove 33: T1=n×T2, or it may be the stroke of the second limiting groove 33 The width is n times the stroke width of the first limiting groove 32: T2=n×T1. It can be understood that the size relationship between the stroke width of the first limit slot 32 and the second limit slot 33 determines the angle between the sheet-like swing member 11 in the swing state and the vertical direction, thereby determining the mirror or The deflection of the beam on the reflective surface further affects the vertical field of view of the radar. Therefore, those skilled in the art can, according to actual needs, consider the size of the vertical field of view of the radar in the embodiment of the present invention and the splitting requirements. Set the size of n. In an embodiment of the present invention, n=2 and T1=n×T2 can be selected. At this time, the corresponding sheet-shaped swing member 11 may also have 4 states, and when the sheet-shaped swing member 11 is in the first swing state When the sequence of the second swing state, the third swing state, the fourth swing state, and then back to the first swing state is switched in turn, the deflection of the light beam between adjacent swing states The angle difference is the same, so the beam can be deflected relatively uniformly to achieve uniform detection.

For example, as shown in FIG. 3A, the angle between the extending direction of the reflecting surface and the vertical direction of the sheet-shaped swinging member 11 in the first swing state is γ1; as shown in FIG. 3B, the sheet-shaped swinging member 11 is in the second swinging state. The angle between the extension direction of the reflecting surface and the vertical direction is γ2; as shown in FIG. 3C, the angle between the extension direction of the reflecting surface and the vertical direction when the sheet-like swing member 11 is in the third swing state is γ3; As shown in Fig. 3D, the angle between the extending direction of the reflecting surface and the vertical direction of the sheet-like swing member 11 in the fourth swing state is γ4, then |γ2-γ1|=|γ4-γ3|, |γ3-γ2 |=|γ4-γ1|. It should be noted that the angle between the extending direction of the reflecting surface and the vertical direction is the same as the angle between the normal direction of the reflecting mirror 110 and the horizontal direction. For ease of illustration, in FIGS. 3A-3D, the reflecting mirror 110 is used. The angle between the normal direction and the horizontal direction is shown. Moreover, it is defined that if the direction from the normal direction of the mirror 110 to the horizontal direction is clockwise rotation, the angle value of the angle between the normal direction of the mirror 110 and the horizontal direction is a positive value, as shown in Figs. 3C and 3D, The angle values γ3 and γ4 of the angle are both positive. If the mirror 110 rotates counterclockwise from the normal direction to the horizontal direction, the angle between the normal direction of the mirror 110 and the horizontal direction is a negative value, as shown in FIG. 3A and FIG. 3B, the angle Both the values γ1 and γ2 are negative values.

In an embodiment of the present invention, the surface formed by the center line of the first limiting groove 32 and the center line of the second limiting groove 33 is parallel to the reflecting surface 110 of the pendulum mirror, so the entire structure of the pendulum mirror The relative symmetry can reduce the complexity of the radar structure.

3, it can be seen that the swing mirror in the embodiment of the present invention further includes: an elastic member 35, one end of the elastic member 35 is fixedly connected to the inside of the housing 30, and the other end of the elastic member 35 is welded through a suspension beam To abut against the rear surface of the sheet-shaped swinging member 11, the elastic member 35 may be a spring. The elastic member 35 is used to push the sheet-shaped swinging member 11 from the rear to the front inside the housing 30, In order to ensure that the sheet-shaped swinging component 11 can flexibly swing inside the housing 30. In another embodiment of the present invention, the elastic member 35 may be used to suspend the sheet-shaped swinging member 11, so that the sheet-shaped swinging member 11 is translated back and forth or rotated in a pitch direction.

In order to enable those skilled in the art to better understand and implement the present invention, an embodiment of the present invention also provides a method for driving a swing mirror, that is, by applying a driving signal to the driving component, the sheet-shaped swinging component is driven in the housing. Swing in the body.

Still referring to FIG. 3, the control element used to control the swing mirror can control the application of a first drive signal to the first drive device 143 to push and pull the top end of the sheet-like swing member 11; control the application of a second drive signal to the second drive The device 144 pushes and pulls the bottom end of the sheet-shaped swing member 11 to drive the sheet-shaped swing member 11 to switch between the first swing state, the second swing state, the third swing state, and the fourth swing state.

In a specific implementation, the first drive signal and the second drive signal can be applied in a time-sharing manner to drive the sheet-like swing member 11 in the first swing state, the second swing state, the third swing state, and the first swing state. The order of the four swing states and then back to the first swing state is switched in turn, thereby reducing the complexity of the radar.

In order to ensure that the end (top end and/or bottom end) of the sheet-like swinging member 11 is as light as possible from one side of the limiting groove (the first limiting groove 32 and/or the second limiting groove 33) The flange on the other side of the limit slot avoids direct collision, and if the first driving signal used when pushing the sheet-like swinging part 11 is a positive signal, the first driving signal used when pulling the sheet-like swinging part 11 The signal is a negative signal. In specific implementations, the first driving signal can be adjusted. For example, a positive first driving signal is used first, and then a negative first driving signal is used to drive the top of the sheet-like swinging member 11 The movement is first accelerated and then decelerated, and finally moves relatively stably to the front or rear flange of the first limiting groove 32. Similarly, the second drive signal can also be adjusted. For example, a positive second drive signal is used first, and then a negative second drive signal is used to drive the bottom end of the sheet-like swinging member 11 to accelerate first, then To decelerate, and finally move relatively stably to the front or rear flange of the second limiting groove 33. In other words, when the

coils

143 and 144 are used to drive the swing mirror to switch the swing state, because the inclination angle is controlled by the limit slot, feedback control can be avoided as much as possible, and the current direction and amplitude of the

coils

143 and 144 can be adjusted, and the driving The purpose of pushing and pulling the

magnets

141 and 142 is to make the swing mirror switch to the next swing state within the switching time Δt.

If the first driving signal is OUT1 and the second driving signal is OUT2, the following three timings exist every time the swing state is switched. If the original position of a certain end is 0 (corresponding to the left), and now you want to switch to 1 (corresponding to the right), first accelerate (OUT1=1) for TA1, then decelerate (OUT1=0) for TD1, and then lock to this Swing state (OUT=1) until the next swing state switch. During the entire switching process, the state of the drive signal OUT2 of the coil at the other end of the swing mirror remains unchanged. When the swing state is switched next time, OUT1 remains unchanged, and OUT2 repeats the above process.

In a specific implementation, TA1>TD1, TA1+TD1<Δt can be set, so that the sheet-like swinging member 11 can be gently buckled on the other side without hitting it, which can reduce the loss. Each time the state of the swing mirror is switched, the required acceleration time and deceleration time can be independently controlled, thereby increasing the flexibility of control.

For ease of understanding, FIG. 4A shows a schematic side view of the structure of a laser radar transmitting device in an embodiment of the present invention, and FIG. 4B shows a top view of the structure of a laser radar transmitting device in an embodiment of the present invention 4A and 4B, the emitting device includes: at least one light emitter 41, a swing mirror 42, an emitting lens assembly 43, and a rotating mirror 44. Wherein, a plurality of light emitters 41 are used to emit detection beams, and the plurality of light emitters 41 are arranged along the vertical direction of the lidar, and the detection beams emitted by the plurality of light emitters 41 have different vertical field angles. The rotating mirror 44 is arranged at the focal plane position of the emitting lens assembly 43, and the image formed on the rotating mirror 44 by the probe beam collimated by the emitting lens assembly 43 is also the image formed on the focal plane. The rotating shafts of the swing mirror 42 and the rotating mirror 44 are perpendicular to each other.

In the specific implementation, the pendulum mirror 42 can be realized by any structure in the above embodiments, and can also be realized in other ways, including but not limited to, for example, using a one-dimensional galvanometer, rotating prism, liquid crystal, and using electronic signals to Operate one or more optical phased arrays or motor-driven mechanical parts, as long as the pendulum mirror 42 can deflect any probe beam after incident to a different position on the emitting lens assembly 43, and then pass the emitting lens After the assembly 43 is collimated, on the focal plane of the emission lens assembly 43, which is generally on the rotating mirror 44, the image formed can have different translation or dispersion in the vertical direction.

In an embodiment of the present invention, the pendulum mirror 42 is realized by adopting any of the structures in the above embodiments, that is, a type capable of pitching and swinging in the vertical direction, and having N (for example, 4) swing states, And the structure can be switched in sequence in the N swing states or select some of the N swing states (for example, 3). In this case, the pendulum mirror 42 in different swing states can have different pitch angles, and for any probe beam, the pendulum mirror 42 in different swing states can deflect the probe beam. To the different positions of the emitting lens assembly 43, so that the probe beam is collimated by the emitting lens assembly 43, on the focal plane of the emitting lens assembly 43, it can also be the image formed on the rotating mirror 44 , There is relative translation in position, so that any one of the detection beams can be divided into multiple detection sub-beams with different vertical field of view directions. Since the foregoing embodiment has described its principle and structure in detail, it will not be repeated here.

The emitting lens assembly 43 can be used to collimate the probe beam deflected by the swing mirror 42.

The rotating mirror 44 is fixed on the rotor and rotates around the rotating shaft of the rotor arranged in the vertical direction to reflect the probe beam to the space to be measured, so as to realize the scanning of the probe beam in the horizontal direction. Specifically, the rotating mirror 44 has M reflecting surfaces and the M reflecting surfaces cooperate with the swing mirror 42 to work synchronously and in coordination, where M is a positive integer greater than or equal to 2. In addition, for ease of description, in FIG. 4A, the rotating mirror 44 has two reflective surfaces, namely a reflective surface M11 and a reflective surface M12, and the two are arranged oppositely in parallel. 4C shows a schematic side view of the structure of another laser radar transmitting device in an embodiment of the present invention, where M=2, it can be understood that FIG. 4A is a schematic diagram of the transmitting device at time t1, and FIG. 4C is (t1+Δt ) The schematic diagram of the launching device at time. The m direction is selected as the reference zero-degree direction, or the initial 0° direction at which the rotating mirror 44 starts to rotate. Comparing Figures 4A and 4C, it can be seen that the rotating mirror 44 has been rotating around the axis of rotation. At the moment, the angle between the mirror normal of one of the emission surfaces M11 of the rotating mirror 44 and the m direction is

At the moment (t1+Δt), the angle between the mirror normal of one of the emission surfaces M11 of the rotating mirror 44 and the m direction is

In addition, FIG. 4D shows a schematic side view of the structure of a laser radar transmitting device in an embodiment of the present invention, and FIG. 4E shows a schematic side view of the structure of a laser radar transmitting device in an embodiment of the present invention. In FIGS. 4D and 4E, M is 4, and the four reflecting surfaces of the rotating mirror 44 are M11, M12, M13, and M14 respectively. FIG. 4D is a schematic diagram of the transmitting device at time t3, and FIG. 4E is (t3+Δt) In the schematic diagram of the launching device at time, the m direction is also selected as the reference zero-degree direction, or the initial 0° direction at which the rotating mirror 44 starts to rotate. Comparing Figure 4D with Figure 4E, it can also be seen that the rotating mirror 44 has been rotating around the axis of rotation. At time t3, the angle between the mirror normal of one of the emitting surfaces M11 of the rotating mirror 44 and the m direction is

At the moment (t3+Δt), the angle between the mirror normal of the emitting surface M11 and the m direction is

Therefore, those skilled in the art can set the size of M and the relative position of the reflecting surface as required in practical applications, and the examples here do not limit the application.

It should be noted that in FIGS. 4A, 4B, 4C, 4D, and 4E, it can be seen that the rotating mirror 44 rotates clockwise, which is just a schematic to facilitate the understanding of those skilled in the art, but the schematic does not constitute a reference to the present invention. Application restrictions. In another embodiment of the present invention, the rotating mirror 44 can also be rotated counterclockwise.

In a specific implementation, the swing mirror 42 can swing around the rotating shaft, swing to different positions, and can present N swing states. The swing mirror 42 in different swing states has different pitch angles. 4F shows a schematic side view of the structure of another laser radar transmitting device in an embodiment of the present invention. Comparing FIGS. 4A and 4F, it can be seen that the pendulum mirror 42 can be in different swing states. In FIG. 4A, the pendulum mirror 42 can be in the first swing state, and the pitch angle is γ1; in 4F, the swing mirror 42 can be in the second swing state, and the pitch angle is γ2. In addition, the swing mirror 42 can sequentially switch between the N swing states, where N is a positive integer greater than or equal to 2. It can be understood that the size of N is related to the arrangement of the first positioning groove and the second positioning groove. In addition, the swing mirror 42 can be cycled in the order of the first swing state, the second swing state, the third swing state, the fourth swing state, and then back to the first swing state. Switching, the swing mirror 42 may also select only a part of the state to switch, for example, it may be selected in the third swing state, the fourth swing state, and then back to the third swing state.

Since the swing mirror has multiple swing states (N), and the rotating mirror has multiple reflective surfaces (M), in order to better match, the swing mirror and the rotating mirror need to be synchronized and coordinated to a certain extent, and the entire laser There may also be different coordination timings between the frame frequency of the radar and the movement frequency of the swing mirror and the rotating mirror, so that users can switch the wiring harness and frame rate according to their needs.

In some embodiments of the present invention, the swing mirror may not be driven, but only the rotating mirror. At this time, the swing mirror is similar to a reflecting mirror. If there are 16 light emitters arranged in sequence in the vertical direction, the frame frequency is X1HZ, and the rotating frequency of the rotating mirror is 2X1HZ, the radar can scan the surrounding environment to obtain 16-line point cloud data. Moreover, if there are 16 light emitters arranged in sequence in the vertical direction, the frame frequency is X1HZ, and the rotation frequency of the rotating mirror is 4X1HZ, at this time, the radar scanning the surrounding environment can also obtain 16-line point cloud data, but compared to The point cloud obtained by the rotating mirror with the frequency of 2X1HZ, the 16-line point cloud is more dense. It should be noted that a point cloud image represents a frame, which corresponds to a rotating device such as a motor to complete the scan inside the lidar. The frame rate is the rotation device of the lidar in one second, such as the number of turns of the rotating mirror 44 or the motor, which is the number of times the lidar completes one scan per second. The frame rate also represents what the lidar can obtain The frequency of point cloud data update. For example, if a laser radar works at a frame rate of 10HZ, it means that the rotating device of the laser radar rotates 10 times per second.

In some other embodiments of the present invention, the swing mirror can be switched from a swing state to a lower one within an interval not greater than the interval between two successive horizontal scans of the two adjacent reflective surfaces of the rotating mirror. A swing state, in other words, the swing mirror is in any swing state for a certain period of time. During this period of time, a reflection surface of the rotating mirror performs a horizontal scan in a horizontal direction or a horizontal angle.

For example, when M=2 and N=2, the two reflecting surfaces M11 and M12 of the rotating mirror are arranged relatively parallel, and the swing mirror has a first swing state and a second swing state. Then the synchronization and coordination of the swing mirror and the rotating mirror can refer to Table 1. Specifically:

At t0, the swing mirror enters the first swing state. From t1 (time t1 can be t0 or later than t0) to t2, the swing mirror remains in the first swing state, and from t0 to t1 At the moment, it can be that the reflective surface of the rotating mirror does not start to work, or the transmitter does not emit the probe beam. In the end, the rotating mirror does not scan in the horizontal direction during the period from time t0 to time t1, and is in the first swing state. The angle between the extending direction of the reflecting surface of the pendulum mirror and the vertical direction is γ1 (refer to Figure 3A and Figure 4A). Starting at t1, the reflecting surface of the pendulum mirror deflects the incident light beam and then enters the M11 surface of the turning mirror , And the M11 surface of the rotating mirror moves around the axis of rotation in the horizontal direction from t1 to t2.

(Refer to Figure 4A) Rotate to

(Refer to Figure 4C), complete a horizontal scan. Then, from time t3 (time t3 can be time t2 or later than t2) to time t4, the swing mirror switches from the first swing state to the second swing state, and the rotating mirror continues to rotate, but During this period of time, the rotating mirror has no reflective surface to deflect the incident beam and/or the transmitter does not emit the probe beam, or even the reflective surface of the rotating mirror does not start to work. In any case, the rotating mirror does not operate during the period from t3 to t4. Scanning in the horizontal direction, the angle between the extension direction of the pendulum mirror in the second swing state and the vertical direction is γ2 (refer to Figure 3B and Figure 4F), at time t5 (time t5 can be time t4 or Later than t4), the M12 surface of the rotating mirror rotates until it can receive the incident light beam deflected by the swing mirror in the second swing state and start to work, and continue from the next t5 to t6. In the paragraph, the swing mirror also keeps the second swing state, and the M12 surface of the rotating mirror moves from

(Not shown, since M11 and M12 are parallel, it is similar to

(Also refer to Figure 4A to understand) Rotate to

(Not shown, similar to

It can also be understood with reference to Figure 4C) to complete a scan in the horizontal direction. Then, the above-mentioned process is repeated and repeated without repeating it.

Table 1

For another example, when M=2 and N=4, the two reflecting surfaces M11 and M12 of the rotating mirror are arranged relatively parallel, and the swing mirror has a first swing state, a second swing state, a third swing state, and a fourth swing state. The frame frequency of the entire radar is X ₂ HZ, the rotating mirror is 2X ₂ HZ, and the operating frequency of the swing mirror is 4X ₂ HZ. If there are 16 light emitters arranged in sequence in the vertical direction, the radar can scan the surrounding environment. 64-line point cloud data. Then the synchronization and coordination of the swing mirror and the rotating mirror can refer to Table 2. Specifically:

At t0, the swing mirror enters the first swing state. From t1 (time t1 can be t0 or later than t0) to t2, the swing mirror remains in the first swing state, and from t0 to t1 At the moment, it can be that the reflective surface of the rotating mirror does not start to work, or the transmitter does not emit the probe beam. In the end, the rotating mirror does not scan in the horizontal direction during the period from time t0 to time t1, and is in the first swing state. The angle between the reflecting surface of the pendulum mirror and the vertical direction is γ1 (refer to Figures 3A and 4A). Starting from t1, the reflecting surface of the pendulum mirror deflects the incident light beam and then enters the M11 surface of the rotating mirror. The M11 surface of the mirror moves from the axis of rotation in the horizontal direction from time t1 to time t2.

(Refer to Figure 4A) Rotate to

(Refer to Figure 4C), complete a scan in the horizontal direction.

Then, from time t3 (time t3 can be time t2 or later than t2) to time t4, the swing mirror switches from the first swing state to the second swing state, and the rotating mirror continues to rotate, but During this period of time, the rotating mirror has no reflective surface to deflect the incident beam and/or the transmitter does not emit the probe beam, or even the reflective surface of the rotating mirror does not start to work. In any case, the rotating mirror does not operate during the period from t3 to t4. Scanning in the horizontal direction, and the angle between the reflecting surface of the pendulum mirror in the second swing state and the vertical direction is γ2 (refer to Figure 3B and Figure 4F), at time t5 (time t5 can be time t4 or later than t4), the M12 surface of the rotating mirror rotates until it can receive the incident light beam deflected by the swing mirror in the second swing state and start to work, and continue in the next time period from t5 to t6 , The swing mirror has always maintained the second swing state, and the M12 surface of the rotating mirror moves from

(Not shown, since M11 and M12 are parallel, it is similar to

(Also refer to Figure 4A to understand) Rotate to

(Not shown, similar to

It can also be understood with reference to Fig. 4C) to complete a scan in the horizontal direction.

Then, at time t7 (time t7 can be time t6, or time later than t6) to time t8, the swing mirror switches from the second swing state to the third swing state, and the rotating mirror continues to rotate, but During this period of time, the rotating mirror has no reflective surface to deflect the incident beam and/or the transmitter does not emit the probe beam, and even the reflective surface of the rotating mirror does not start to work. In any case, the rotating mirror does not operate during the period from t7 to t8. Scanning in the horizontal direction, the angle between the reflecting surface of the pendulum mirror in the third swing state and the vertical direction is γ3 (refer to Figure 3C), at time t9 (time t9 can be time t8 or later than t8) , The M11 surface of the rotating mirror rotates until it can receive the incident light beam deflected by the swing mirror in the third swing state and start to work, and continue in the next time period from t9 to t10, the swing mirror also Always maintain the third swing state, and the M11 surface of the rotating mirror moves from

(Not shown, similar to

Can refer to Figure 4A to understand) Rotate to

(Not shown, similar to

Then, from time t11 (time t11 can be time t10 or a time later than t10) to time t12, the swing mirror switches from the third swing state to the fourth swing state, and the rotating mirror continues to rotate, but During this period of time, the rotating mirror has no reflective surface to deflect the incident beam and/or the transmitter does not emit the probe beam, and even the reflective surface of the rotating mirror does not work. In any case, the rotating mirror does not work during the period from t11 to t12. Scanning in the horizontal direction, the angle between the reflection surface of the pendulum mirror in the fourth swing state and the vertical direction is γ4 (refer to Figure 3D), at time t13 (time t13 can be time t12 or later than t12) , The M12 surface of the rotating mirror rotates until it can receive the incident light beam deflected by the swing mirror in the fourth swing state and start to work, and continue in the next time period from t13 to t14, the swing mirror also The fourth swing state has been maintained, and the M12 surface of the rotating mirror moves from

(Not shown, similar to

(Also refer to Figure 4A to understand) Rotate to

(Not shown, similar to

It can also be understood with reference to Fig. 4C) to complete a scan in the horizontal direction. Then repeat the above process continuously, so I won't repeat it.

Table 2

For another example, when M=4, N=4, the rotating mirror is a cube, and the four reflecting surfaces M11, M12, M13, and M14 are arranged at intervals, and the swing mirror has a first swing state, a second swing state, and a third swing state. State and fourth swing state. The frame frequency of the entire radar is X ₃ HZ, the rotating mirror is X ₃ HZ, and the operating frequency of the swing mirror is 4X ₃ HZ. The synchronization and coordination of the swing mirror and the rotating mirror can be referred to Table 3. Specifically:

At time t0, the swing mirror enters the first swing state. From time t1 (time t1 can be time t0 or later than time t0) to time t2, the swing mirror remains in the first swing state and is in the first swing state. The angle between the reflecting surface of a swinging mirror and the vertical direction is γ1 (refer to Figure 3A and Figure 4A). Starting from t1, the reflecting surface of the swing mirror deflects the incident light beam and enters it on the M11 surface of the rotating mirror. , And the M11 surface of the rotating mirror moves around the axis of rotation in the horizontal direction from t1 to t2.

(Not shown, can be understood with reference to Figure 4D) Rotate to

(Not shown, can be understood with reference to Fig. 4E), complete a scan in the horizontal direction.

Then, from time t3 (time t3 can be time t2 or later than t2) to time t4, the swing mirror switches from the first swing state to the second swing state, and the rotating mirror continues to rotate, but During this period of time, the non-reflective surface of the rotating mirror deflects the incident beam and/or the transmitter does not emit the probe beam, or the reflecting surface of the rotating mirror does not start to work, and the reflecting surface of the pendulum mirror in the second swing state is opposite to the vertical direction. The included angle is γ2 (refer to Figure 3B and Figure 4F). At time t5 (time t5 can be time t4, or time later than t4), the M12 surface of the rotating mirror rotates until it can receive the second swing state The lower swing mirror deflects the incident beam and starts to work, and continues in the next time period from t5 to t6, the swing mirror also maintains the second swing state, and the M12 surface of the rotating mirror moves from

(Refer to Figure 4D) Rotate to

(Refer to Figure 4E), complete a scan in the horizontal direction.

Then, at time t7 (time t7 can be time t6, or time later than t6) to time t8, the swing mirror switches from the second swing state to the third swing state, and the rotating mirror continues to rotate, but During this period of time, the rotating mirror has no reflective surface to deflect the incident beam and/or the transmitter does not emit the probe beam, or the reflective surface of the rotating mirror does not start to work. In any case, the rotating mirror does not operate during the period from t7 to t8. Scanning in the horizontal direction, the angle between the reflecting surface of the pendulum mirror in the third swing state and the vertical direction is γ3 (refer to Figure 3C), at time t9 (time t9 can be time t8 or later than t8) , The M13 surface of the rotating mirror rotates until it can receive the incident light beam deflected by the swing mirror in the third swing state and start to work, and continue in the next time period from t9 to t10, the swing mirror also Always maintain the third swing state, and the M13 surface of the rotating mirror moves from

(Not shown, can be understood with reference to Figure 4D) Rotate to

Then, from time t11 (time t11 can be time t10 or a time later than t10) to time t12, the swing mirror switches from the third swing state to the fourth swing state, and the rotating mirror continues to rotate, but During this period of time, the rotating mirror has no reflective surface to deflect the incident beam and/or the transmitter does not emit the probe beam or the reflective surface of the rotating mirror does not start to work. After all, the rotating mirror will not be level during the period from t11 to t12. The scanning direction, the angle between the reflection surface of the pendulum mirror in the fourth swing state and the vertical direction is γ4 (refer to Fig. 3D), at time t13 (time t13 can be time t12 or later than t12), The M14 surface of the rotating mirror rotates until it can receive the incident light beam deflected by the swing mirror in the fourth swing state and start to work, and continue to work during the next period from t13 to t14. Maintain the fourth swing state, and the M14 surface of the rotating mirror moves from

(Not shown, can be understood with reference to Figure 4D) Rotate to

(Not shown, can be understood with reference to Fig. 4E), complete a scan in the horizontal direction. Then repeat the above process continuously, so I won't repeat it.

table 3

In a specific implementation, the vertical field of view of the probe beam emitted by the optical transmitter is evenly distributed within the field of view scanned in the vertical direction of the lidar, so that uniform scanning can be achieved in the vertical field of view.

In the specific implementation, if the difference between the vertical field angles of the two adjacent probe beams emitted by the light emitter is set to be α degrees, set any one of the probe beams to be in two adjacent swings. The difference between the vertical viewing angles of the swing mirror in the state of being deflected is β degrees, and the following proportional relationship exists between the difference angle α and the difference angle β:

Where α=β*N;

Where N is the number of swing states of the pendulum mirror, so it can be seen that after the deflection of the pendulum mirror in N different swing states, any collimated probe beam can be divided into It is equally divided into N detection sub-beams with different vertical field of view directions, and these N detection sub-beams with different vertical field of view directions are not generated at the same time point, but when the swing mirror is stationary in one of the N swing states, successively One by one. In addition, by controlling the relative size relationship of the positioning grooves and the switching timing between the swing states, it can be ensured that the vertical viewing angles of the N detection sub-beams with different vertical viewing directions are the same. Therefore, by using the transmitting end of the radar of the embodiment of the present invention, the vertical scanning line beam can be increased without changing the number of laser transmitters, so the cost and complexity of the radar can be reduced.

In order to further improve the line beam of the vertical field of view of the lidar, in an embodiment of the present invention, at least two of the M reflecting surfaces of the rotating mirror may be respectively provided with different pitch angles relative to the vertical direction. In detail, the pitch angle is added to the M-plane rotating mirror, and this pitch angle is the angle between the rotating mirror axis (that is, the vertical direction). Since the M-surface reflecting surface of the rotating mirror produces a mirror effect on the incident probe beam, when the M-surface reflecting surface is parallel to the vertical direction, that is, when the pitch angle of the M-surface reflecting surface is zero, the incident probe beam passes through the rotating mirror After the reflection of the reflecting surface, it can be reflected in a symmetrical direction with respect to the horizontal plane. For any reflecting surface in the M plane, when the reflecting surface has a slight non-zero pitch angle, the reflected probe beam will also be deflected differently. If the pitch angle of each emitting surface is different, the detection beams with different vertical field of view directions will be generated. When matched, the rotating mirror rotates around the axis of rotation, and the scanning trajectories of the line beams with different vertical field of view directions will be generated. Of course, when the M-plane rotating mirror rotates around the axis of rotation, the pitch effect of the rotating mirror will gradually disappear from the direction facing the incident probe beam to gradually moving away from and approaching parallel to the incident beam. Therefore, the scan lines are evenly distributed on the left side of the simulation result, and to the right side, every adjacent M scan lines will converge.

Figure 5 shows a schematic diagram of the structure of a lidar in an embodiment of the present invention. In order to distinguish, the solid arrow in Figure 5 represents the direction of the emerging probe beam, and the dashed arrow represents the direction of the echo beam, as shown in Figure 5. As shown, the lidar may include: any one of the transmitting devices in the foregoing embodiments, at least one optical receiver, and a control device. In addition, in order to achieve functions such as beam deflection or collimation, the lidar may also include corresponding optical devices. For example, the laser radar may further include a beam splitting device and a receiving lens assembly. The beam splitting device is used to reflect or transmit the probe beam and transmit or reflect the echo beam; the receiving lens assembly is used to collect the echo beam.

Referring to Figure 5, the working process of the lidar is as follows:

The probe beam emitted by the light emitter is reflected or transmitted by the beam splitter and then enters the swing mirror. The probe beam is deflected by one of the N swing states and enters the emitting lens assembly for collimation. The collimated probe beam is incident on the rotating mirror synchronized with it, and is reflected by a reflective surface of the rotating mirror to the space to be measured. The probe beam is reflected by the target in the space to be measured to form an echo beam. The light beam is reflected by the rotating mirror to the receiving lens assembly, the echo beam is collected by the receiving lens assembly and is incident on the swing mirror. After being deflected by the swing mirror, the echo beam is incident on the beam splitting device again. After being transmitted or reflected by the beam splitter, it is converged on the light receiver. In terms of control, a control device with at least one processor can control the synchronization between the swing mirror and the rotating mirror, and respond according to the time interval between the launch time of the probe beam and the reception time of the echo beam Calculate the distance between the target in the space to be measured and the lidar.

Fig. 6 shows a schematic structural diagram of another lidar in an embodiment of the present invention. To distinguish, the solid arrow in Fig. 6 indicates the direction of the emerging probe beam, and the dashed arrow indicates the direction of the echo beam. The difference from FIG. 5 is that in addition to the components shown in FIG. 5, the lidar in this embodiment may additionally include: a second swing mirror, which is arranged directly above or directly below the swing mirror It does not matter, as long as the projection of the second swing mirror and the swing mirror on the horizontal plane coincide, the second swing mirror is set to be driven synchronously with the swing mirror to ensure that the second swing mirror and the swing mirror are in the same swing status. And similar to Figure 5, in order to achieve beam deflection or collimation and other functions, the lidar also includes a beam splitter and a receiving lens assembly, the beam splitter is used to reflect or transmit the probe beam, and transmit or reflect the echo beam ; The receiving lens assembly is used to collect the echo beam.

Referring to Figure 6, the working process of the lidar is as follows:

The detection beam emitted by the light transmitter is reflected or transmitted by the beam splitter and then enters the pendulum mirror. After being deflected by the pendulum mirror, the detection beam is incident on the emission lens assembly for collimation, and the collimated The probe beam is incident on the rotating mirror synchronized with the swing mirror, and then is reflected to the space to be measured. The probe beam is reflected by the target in the space to be measured to form the echo beam, and the echo beam is reflected by the rotating mirror To the receiving lens assembly, the echo beam is collected by the receiving lens assembly and enters the second pendulum mirror, the echo beam is deflected by the second pendulum mirror and then enters the beam splitting device, and the echo beam passes through The light splitting device converges on the light receiver after transmission or reflection. In the background control, the control device also controls the synchronization between the swing mirror, the second swing mirror and the rotating mirror, and responds accordingly according to the time interval between the emission time of the probe beam and the reception time of the echo beam Calculate the distance between the target in the space to be measured and the lidar.

It should be noted that the synchronization and other control of the swing mirror and the rotating mirror have been described in detail in the foregoing embodiment, and will not be repeated here.

In order to better illustrate the scanning effect of the laser radar in the embodiment of the present invention, FIG. 7 shows a schematic diagram of the scanning trajectory of a laser radar in the embodiment of the present invention. The optical transmitters are 4 LDs, and the 4 LDs along Arranged evenly in the vertical direction, the swing mirror has N=2 swing states: the first swing state and the second swing state, and the corresponding reflecting surface or mirror has two tilt angles with the vertical direction: γ1 (refer to Figure 3A) and γ2 (refer to Fig. 3B), the rotating mirror has two reflecting surfaces, and the two reflecting surfaces are parallel to the vertical direction. The horizontal axis of Fig. 7 is the horizontal scanning field of view, and the vertical axis is the vertical scanning field of view. As shown in Figure 7, 8 scanning lines that are relatively uniform in the vertical field of view can be seen. This is because a probe beam emitted by each LD can be driven by the pendulum in the first swing state or the second swing state. The mirror is deflected to form two detection beams with different vertical scanning directions in equal parts. The swing mirror expands the line beam, and then rotates the rotating mirror around the axis to achieve horizontal scanning, and 8 scanning lines can be obtained. It can be understood that the above-mentioned scanning lines are formed by the scanning of the probe beam. In addition, in FIG. 7, the scan lines corresponding to γ1 and γ2 are respectively marked.

Fig. 8 shows a schematic diagram of the scanning trajectory of a laser radar in an embodiment of the present invention. The light emitters are 4 LDs, which are evenly arranged in a vertical direction, and the swing mirror has N=4 swing states. : The first swing state, the second swing state, the third swing state, and the fourth swing state. The corresponding reflecting surface or mirror has four tilt angles to the vertical direction of the lidar: γ1 (refer to Figure 3A), γ2 (refer to Figure 3A) 3B), γ3 (refer to Figure 3C) and γ4 (refer to Figure 3D), the rotating mirror has 2 reflective surfaces, and both reflective surfaces can be parallel to the vertical direction. The horizontal axis of Figure 8 represents the horizontal scanning angle of the lidar , The vertical axis represents the vertical scanning angle of the lidar. As shown in Figure 8, 16 scan lines that are relatively uniform in the vertical field of view can be seen. This is because a probe beam emitted by each LD can be in the first swing state, the second swing state, and the second swing state. The pendulum mirror in the three swing state or the fourth swing state is deflected to form four detection beams with different vertical scanning directions equally in the vertical field of view. The pendulum mirror expands the line beam, and then rotates the axis with the help of the rotating mirror The rotation reaches the horizontal scan, and 16 scan lines can be obtained. In addition, in FIG. 8, the scan lines corresponding to γ1, γ2, γ3, and γ4 are respectively marked.

Fig. 9 shows a schematic diagram of the scanning trajectory of a laser radar in an embodiment of the present invention. The light emitters are 4 LDs, namely LD1, L, 2, LD3, and LD4. The 4 LDs are uniformly and sequentially in the vertical direction. Arrangement, the swing mirror has N=4 swing states: the first swing state, the second swing state, the third swing state and the fourth swing state. The corresponding reflecting surface or mirror has 4 tilt angles to the vertical direction: γ1( Refer to Figure 3A), γ2 (refer to Figure 3B), γ3 (refer to Figure 3C) and γ4 (refer to Figure 3D), the two reflective surfaces of the rotating mirror (respectively M11 and M12) and the vertical direction have a non-zero clip Angle, the included angle can be δ1 and δ2. The horizontal axis of FIG. 9 is the horizontal scanning angle, and the vertical axis is the vertical scanning angle. As shown in Figure 9, 32 scan lines in the vertical field of view can be seen. Part of the reason is that similar to the corresponding embodiment in Figure 8, one probe beam emitted by each LD can be placed in the first position. The swing mirror in the swing state, the second swing state, the third swing state, or the fourth swing state is deflected to form four detection beams with different vertical scanning directions in the vertical field of view. The swing mirror performs Another part of the reason is that the reflecting surface of the rotating mirror with an inclination angle also expands the wire harness in the vertical direction, and the rotation of the rotating mirror around the axis of rotation reaches the horizontal scanning, so a total of 32 scan lines are formed . In addition, you can see that the scan lines are still relatively evenly distributed on the left side, but on the right side, every two adjacent scan lines are almost converged together. The reason for this unevenness on the left and right sides is that as mentioned earlier, when the polygon mirror rotates around the axis of rotation, from the direction facing the incident detection beam, to gradually moving away from and close to the incident beam, the rotation of the mirror The pitch effect will gradually disappear. Therefore, the scan lines are evenly distributed on the left side of the simulation result, and on the right side, multiple adjacent scan lines will converge together.

Moreover, because there are too many wire harnesses in Fig. 9, for ease of explanation, in Fig. 9, the scanning wire harnesses are numbered according to the rule of light emitter-swing mirror inclination angle-rotating mirror inclination angle, for example, 1-1-1 means LD1- γ1-δ1, that is, the scanning beam is the first light emitter LD1, which is obtained by scanning after the pendulum mirror is in the first swing state (inclination angle is γ1), and the reflecting surface M11 (inclination angle is δ1) around the axis of rotation Wire harness; for example, 2-1-1 means LD2-γ1-δ1, that is, the scanning wire beam is the second light emitter LD2, and the pendulum mirror is in the first swing state (inclination angle is γ1), and the reflecting surface M11 (clamping The angle is δ1) The wire beam obtained by scanning after rotating around the axis; for example, 2-2-1 means LD2-γ2-δ1, that is, the scanning wire beam is the second light emitter LD2, and the swing mirror is in the second swing State (inclination angle is γ2), the reflecting surface M11 (angle of δ1) is rotated around the axis of rotation and scanning the obtained line beam; for example, 2-2-2 means LD2-γ2-δ2, that is, the scanning line beam is the second light The transmitter LD2 scans the obtained wire beam after the swing mirror is in the second swing state (the inclination angle is γ2) and the reflective surface M12 (the included angle is δ2) rotates around the axis of rotation.

Comparing FIGS. 8 and 9, it can be seen that the non-zero inclination angle with respect to the vertical direction is set with respect to the reflecting surface of the counter-rotating mirror. By using the swing mirror in the embodiment of the present invention, it is possible to not increase the number of light emitters. , Get multi-beam scan lines, and you can get relatively uniform scan lines.

It should be noted that the light emitter in this application can be any suitable type of emitting element. For example, the light emitter can be an LED, LD, or VCSEL, etc. The light emitter can also be adjusted according to the detection requirements, such as the intensity, the frequency of the emitted light pulse, and the adjustment of the emitted light. wavelength. The optical receiver may be any suitable type of detection device that can convert light into electrical signals, such as APD, SPAD, or SiPM.

The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, it is still possible for those skilled in the art to The technical solutions described in the foregoing embodiments are modified, or some of the technical features are equivalently replaced. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

A laser radar transmitting device, which is characterized by comprising: at least one light transmitter, a swing mirror, a transmitting lens assembly, a rotor and a rotating mirror, wherein:

The at least one light emitter is configured to emit a probe beam, the light emitters are arranged in a vertical direction, and the probe beam emitted by each of the light emitters has a different vertical field of view;

The swing mirror is used to deflect the incident detection beam to different positions of the emission lens assembly, so that the detection beam is formed on the focal plane of the emission lens assembly after passing through the emission lens assembly The position of the image is shifted to change the vertical field of view of the probe beam to realize the scanning of the probe beam in the vertical direction;

The transmitting lens assembly is used to collimate the probe beam deflected by the swing mirror;

The rotor has a rotating shaft arranged in a vertical direction, and the rotor can rotate around the rotating shaft;

The rotating mirror is arranged on the rotor and synchronized with the swing mirror. The rotating mirror has M reflecting surfaces for reflecting the probe beam to the space to be measured after being collimated by the emitting lens assembly , So as to realize the scanning of the probe beam in the horizontal direction, where M is a positive integer greater than or equal to 2.
The laser radar transmitting device according to claim 1, wherein:

The swing mirror is capable of pitching and swinging in a vertical direction, has N swing states, and can be sequentially switched between the N swing states;

The pendulum mirrors in different swing states have different pitch angles, and are suitable for deflecting the probe beam to different positions of the emitting lens assembly, thereby dividing any probe beam into multiple vertical field of view directions Different detection sub-beams;

Among them, N is a positive integer greater than or equal to 2.
The laser radar transmitting device according to claim 2, wherein:

The synchronization between the swing mirror and the rotating mirror includes: within an interval not greater than the interval between two successive horizontal scanning of the two adjacent reflective surfaces of the rotating mirror, the swing mirror starts from One swing state is switched to the next swing state.
The laser radar transmitting device according to claim 3, wherein:

The vertical field of view of the probe beam emitted by the light transmitter is evenly distributed within the scanning field of view in the vertical direction of the lidar.
The laser radar transmitting device according to claim 4, wherein:

Set the difference between the vertical field angles of the probe beams emitted by two adjacent light emitters to be α degrees,

Set the difference between the vertical field of view angles of any one of the probe beams after being respectively deflected by the two adjacent swing mirrors to be β degrees,

Where α=β*N.
The laser radar transmitting device according to claim 1, wherein:

At least two of the M reflecting surfaces of the rotating mirror have different pitch angles with respect to the vertical direction.
The laser radar transmitting device according to claim 1, wherein:

The swing mirror includes:

A housing, the inside of the top and bottom of the housing are respectively provided with a first limiting slot and a second limiting slot, and the extension direction of the first limiting slot and the second limiting slot is the same as that of the pendulum The reflecting surfaces of the mirror are parallel, and the stroke width of at least one of the first limiting groove and the second limiting groove in the front and rear direction of the housing is not zero;

A sheet-shaped swinging member, the top and bottom ends of the sheet-shaped swinging member are respectively clamped in the first limiting groove and the second limiting groove, and the front surface of the sheet-shaped swinging member has a reflective surface , The reflecting surface is used to deflect the incident light beam;

The driving component is adapted to drive the sheet-shaped swinging component to swing in the housing.
The laser radar transmitting device according to claim 7, wherein:

The stroke widths of the first limiting groove and the second limiting groove in the front and rear direction of the housing are not zero.
The laser radar transmitting device according to claim 7, wherein:

The driving component includes:

The first magnetic component is arranged on the sheet-shaped swinging part and is close to the top end of the sheet-shaped swinging part;

The second magnetic part is arranged on the sheet-like swinging part and is close to the bottom end of the sheet-like swinging part;

The first driving device is fixedly arranged inside the housing and is opposite to and spaced apart from the first magnetic component. The first driving device is configured to be able to push and pull the first magnetic component under the driving of the first driving signal. A magnetic component to drive the top end of the sheet-shaped swinging component to swing in the first limiting slot;

The second driving device is fixedly arranged inside the housing and is opposite to and spaced apart from the second magnetic component. The second driving device is configured to be able to push and pull the first magnetic component under the driving of the second driving signal. Two magnetic parts are used to drive the bottom end of the sheet-shaped swinging part to swing in the second limiting groove.
The laser radar transmitting device according to claim 7, wherein:

The stroke width of the first limiting groove is different from the stroke width of the second limiting groove.
The laser radar transmitting device according to claim 10, wherein:

The sheet-shaped swing component has four swing states, including:

In the first swing state, the first driving device pushes the top end of the sheet-shaped swinging member to abut against the front flange of the first limiting groove, and the second driving device pushes the sheet-shaped swinging member Push the bottom end of the second limit groove to abut against the front flange;

In the second swing state, the first driving device pushes the top end of the sheet-like swinging member to abut against the front flange of the first limiting groove, and the second driving device pushes the sheet-like swinging member The bottom end of the second limiting groove is pulled to abut against the rear flange of the second limiting groove;

In the third swing state, the first driving device pulls the top end of the sheet-shaped swinging member to abut against the rear flange of the first limiting groove, and the second driving device pulls the sheet-shaped swinging member The bottom end of the second limiting groove is pulled to abut against the rear flange of the second limiting groove;

In the fourth swing state, the first driving device pulls the top end of the sheet-shaped swinging member to abut against the rear flange of the first limiting groove, and the second driving device pulls the sheet-shaped swinging member Push the bottom end to abut against the front flange of the second limiting groove.
The laser radar transmitting device according to claim 11, wherein:

The sheet-like swing member is cyclically driven in the order of the first swing state, the second swing state, the third swing state, the fourth swing state, and then back to the first swing state .
The laser radar transmitting device according to claim 10, wherein:

The stroke width of the first limiting groove is n times the stroke width of the second limiting groove, or the stroke width of the second limiting groove is n times the stroke width of the first limiting groove , N is a natural number greater than 1.
The laser radar transmitting device according to any one of claims 7 to 13, wherein:

The surface formed by the center line of the first limiting groove and the center line of the second limiting groove is parallel to the reflective surface of the swing mirror.
The laser radar transmitting device according to claim 8, further comprising:

An elastic member, one end of the elastic member is fixedly connected to the inside of the housing, the other end of the elastic member abuts against the rear surface of the sheet-shaped swing member, and the elastic member is used to suspend the sheet The swing member makes the sheet-shaped swing member move forward and backward in translation or in a pitch direction.
8. The laser radar launching device according to claim 8, wherein the inside of the first limiting slot and the second limiting slot are respectively provided with buffer bushes.
The laser radar transmitting device according to claim 9, wherein:

The first driving device is a first electromagnetic coil, and the first electromagnetic coil is configured to be able to push and pull the first magnetic component by current driving;

The second driving device is a second electromagnetic coil, and the second electromagnetic coil is configured to be able to push and pull the second magnetic component by current driving.
7. The laser radar transmitting device according to claim 7, wherein a reflection mirror is attached to the front surface of the sheet-shaped swinging member, and the reflection mirror is used to deflect the incident light beam.
A laser radar is characterized in that it comprises:

The launching device according to any one of claims 1-18;

At least one optical receiver for receiving an echo beam, the echo beam being a beam formed by the emitted beam after being reflected by a target in the space to be measured;

The control device has at least one processor for controlling the synchronization between the swing mirror and the rotating mirror, and according to the time interval between the emission moment of the probe beam and the reception moment of the echo beam, Calculate the distance between the target in the space to be measured and the lidar.
The lidar of claim 19, wherein:

Controlling the synchronization between the swing mirror and the rotating mirror includes using the interval time between two successive horizontal scanning of the two adjacent reflective surfaces of the rotating mirror to control the swing mirror from one The swing state switches to the next swing state.
The lidar of claim 19, wherein:

The lidar also includes:

A spectroscopic device for reflecting or transmitting the probe beam and transmitting or reflecting the echo beam;

Receiving lens assembly for collecting the echo beam;

Wherein, the probe beam emitted by the light transmitter is reflected or transmitted by the beam splitter and then enters the pendulum mirror, and the probe beam is deflected by the pendulum mirror and enters the emission lens assembly for collimation; The collimated probe beam is incident on the rotating mirror and reflected to the space to be measured. The probe beam is reflected by the target in the space to be measured to form the echo beam, and the echo beam passes through the The rotating mirror reflects to the receiving lens assembly, the echo beam is collected by the receiving lens assembly and enters the swing mirror, and the echo beam is deflected by the swing mirror and enters the beam splitting device , The echo beam is transmitted or reflected by the light splitting device and then condensed on the light receiver.
The lidar of claim 21, wherein:

The lidar also includes:

The second swing mirror, the second swing mirror is arranged directly above or directly below the swing mirror, and the second swing mirror is arranged to be driven synchronously with the swing mirror.
The lidar of claim 19, wherein:

The lidar also includes:

A spectroscopic device for reflecting or transmitting the probe beam and transmitting or reflecting the echo beam;

The transmitting lens assembly is also used to collect the echo beam;

Wherein, the probe beam emitted by the light transmitter is reflected or transmitted by the beam splitter and then enters the pendulum mirror, and the probe beam is deflected by the pendulum mirror and enters the emission lens assembly for collimation; The collimated probe beam is incident on the rotating mirror and reflected to the space to be measured. The probe beam is reflected by the target in the space to be measured to form the echo beam, and the echo beam passes through the The rotating mirror reflects to the receiving lens assembly, the echo beam is collected by the receiving lens assembly and enters the second swing mirror, and the echo beam is deflected by the second swing mirror and then enters In the light splitting device, the echo beam is transmitted or reflected by the light splitting device and then condensed on the light receiver.